Object locating system



Oct. 1, 1946. Y JR I 2,408,3Q5

- OBJECT LOCATING SYSTEM Filed April 26, 1944 2 Sheets-Sheet 1 FIG. 4a

A TTORNE Y Oct. 1, 1946. J. B. HAYS, JR 2,403,395

OBJECT LOCATING SYSTEM I Filed April 26, 1944 2 Sheets-Sheet 2 CHAD/NH A CHANNEL 5 47 V V V FIG 3 INVENTOR By .1 B. HAYS, JR

ATTORNEY Patented Oct. 1, 1946 UNITED STATES PATENT OFFICES mesne assignments, to Western Electric Com- 1 pany, Incorporated, New York, N. Y., a corporation of New York Application April as, 1944, Serial No. 532.697

Claims. (Cl. 177--386) 1 This invention relates to object locating systems and particularly to those systems which depend upon the reception of compressional waves emanating from the object whose location it is desired to determine.

Heretofore systems of the general nature noted have-been proposed based upon the binauralief- 'fectof sound waves impinging upon spaced microphones. These systems depend to a great extent upon human observations such asby noting the intensity of sound received or by the observation of maximum swing on an electrical instrument. The objections to such systems are well known and the results obtained by the use of such systems have not had the accuracy desired.

An object of the invention is the accurat location of a source of compressional waves.

Another object of the invention is to compare the electric currents in two separate channels by applying them to a common device in such a manner that the attainment of neutralization is sharply defined.

In one'embodiment of the invention, the system comprises two spaced microphones adapted to receive the same signals. The outputs of the two microphones are amplified and filtered in individual electrical channels and then applied'to a common detector in phase quadrature. The sum and difierence of electric vectors in phase quadrature are numerically equal so that an accurate mid-position or null balance may be ascertained on an electrical instrument in the output of the detector. l The particular advantage of utilizing electric currents in phase quadrature is due to the fact that a slight deviation from the true quadrature condition results in a marked difierence in the sum and difference vectors and hence in the indication shown by a meter. In systems using inphase or 180 degree out-of-phase vectors the rate of change when the neutralization condition is approached is very small so that the condition of true neutralization is difficult to determine and errors of considerable magnitude are likely to result. g

In the operation of the device, a delay network in one channel is adjusted until the currents in the two channels are in phase and the setting of this network is a measure of the out-'of-phase condition of the currents received from the microphones and, hence, the angle which the compressional wave makes withthe line joining the spaced microphones. The invention together with other objects and features will be 'more clearly understood from the following description and the attached drawings forming a part thereof.

In the drawings: Fig. 1 is a-schematic diagram of one form of the invention-having some of the apparatus indicated in block form; I q

Fig. 2 illustrates a modificatio of ,thesystem o 1;

Fig. 3 is a still further modification whereby lamps are utilized to indicate the condition of the system} and v Figs. 4a, 4b and 4c are simplified vector diagrams used in explaining. the operation of the system. v

In Fig. 1, two microphones I0 and .l0' are illustrated as connected to separate channels gA and B by means of cables H, II. It is to be understood that in general microphones l0 and l0 are fixed relatively to each other and that they are non-directional. In experimental use of the' equipment the spacing of the devices 1:, H! was varied from one foot to twenty feet with a spacing of abouteight feet preferred. In one embodiment, where the system was used for submarine object location, devices l0 and. I0 were hydrophones, that is microphones designed for use under water. The devices were attached to a frame-work adapted to be placed at the bottom of a body of water. Cables 3| I, H led from the devices to a shore-installation and were con.- nected to "separate channels. I

Each of the channels -''A- and-B comprises an amplifier. l2, l2 and a band-pass filter I3, 13'. The amplifiers l2, l2" may be of any type but preferably are the well-known vacuum tube type. In the embodiment o fthe'system noted'above. the amplifiers comprisedfour stages.

As illustrated in Fig. 1, channel A is provided with a delay network. No corresponding network is included in-channel B. Onesuch delay network which has been used had a total delay 'of 400 microseconds having-ten steps of which one was continuously variable. As will be readmy understood, the amount of delay will depend upon the hydrophone spacing. A single stage of amplification indicated as tube 'l5 follows the delay network in the channel. ..In channel B a corresponding stage is indicated at l5". "Partof the output of each stage l5, l5"isapplied to associated automatic volume controls l6, [6, respectively, adapted 'to' control the gain of amplifiers l2 and I2 as indicated. The function of the volume'control devices is to maintain the outputsignals .from the channels substantially constant. As will appear later it is not required that the amplitudes of the signals in one channel be equal to the amplitudes of the signals in the other channel but it is desirable that theoutput of each channel be maintained substantially constant.

The main part of the output :of stage l in channel A is applied to the input winding of transformer l1 and the main part of the output of stage IB of channel B is applied to the input winding of transformer I1.

A capacitance-resistance network comprising capacitances C and C1 and resistances R and R1 is associated with the output winding-oftra'nsformer I! to provide a +45 degree phase shift (at the mid-band frequency) in the currents in channel A. The mid-point of the output winding of transformer "is connected to the common terminal of resistances R and R1 by conductor-I38;

A capacitance-resistance network comprising capacitance C and resistance. :R' is associated with "the output winding of transfonner Hf to provide a 45 degree phasesiiift. (at the midband frequency) in the currentgof channel B.

The two-networks 'just notedfprovide a 90 .degree dilferen'cein phase :between the currents in the two channels.

A conductor '19 connects conductor l8 .to the common terminal of resistance R and capaci tance C incha'nneLB.

The amplitude balance indicator of the phase detector comprises two tubes 20 and 21, the :grids of-whichare connected through capacitances C and (:1 respectively, to the ends or the output winding of transformer H. The cathodes of the tubes are connected :tln ou'ghresistances "22 and lirespectively; tozgrozmd while'the anodes of the tubes are connected-to a "source of positive potential 2'4. iSource'M also provides biasingypot'entialfor'the grids of the tubes.

A meter .25 which is preferably of the center .zero type is connected between the cathodes of thetubes.

Before proceeding with a. description of the oporation-of the system of Fig. 1, reference is to be made -to Figs. 4a and 4b which illustrate that a small departuregfrom the quadrature relation of vectors :gives'a'marked difference between their anfl' difierence.

In Fig. do one vector is illustrated as Vs and this maybe considered to -.represent the voltage of the current in channeLB-after ritsr phaselshif-t, while Va may be considered .torepresent the volt- .age of ll'hfl'lClllIEflliiIl-QhfiH-HB]. A rafter its phase shift. It should 'be noted that Va and VB are. not .of thesamemagnitude and this has been done to illustrate that the electrical quantities .in the two channels may be unequal butthat their sum and difference are equal numerically.

The Sum of vectors VA and VB .is shown as Vase and-the difference of. the vectorsisshown :as Vis s. That VA+B and VA-B are-equal .is .obvious from Fig. 4a andthis fact is well known .to those skilled in the art.

.In Fig. 4b the vectors are not in true .quadra- "ture. :is shown by dnawing Vie at slightly sless :than .90 degrees to V The sum of :these vectors is-shown at v'n-seand- -the dillierence is shown at V's-a3. .Arcs of acirc'les drawn-with 'V'A -B and Vahsa'sradii and'with O as the. center'sh ow that the difference 'inmagnitude of the sum :and difference vectors, AV,"is quitepro'nouncedcven though departure .f-romtrue quadrature :relation of 'V'azand V'B is very slight. Hence an electric meter which -indicates samplitudexditferencfi 0f the voltages in the two channels.

between the sum and diiference vectors will show a marked swing even when the vectors are only slightly out of quadrature.

Referring again to Fig. 1, sound or compressional waves emanating from a source remote from hydrophones I0 and ID will impinge upon them. "If the source is not in the direction of the perpendicular bisector of the line joining hydrophones Ill and I0 the waves will arrive at the hydrophones in out-of-phase relation.

The currents from the hydrophones are amplified in amplifiers I2 and I2 and then are impressed on filters I3 and I3. These filters in one case'passed'a band from 2 to 10 kil-ocycles and in another case passed a band from 1.5 to 3 kilocycles. The "frequency of the waves from the scurceto be located and the response characteristic of the hydrophones determine the band and the band widths of the filters.

From filter l3 in channel A the currents are impressed on delay net-work l4 and this network is adjusted. until a zero reading is obtained on :meter '25 which indicates that the delay circuit has been adjusted to the point where the currents in the two channels are in phase at the inputs to transformers 'l 1 and I1 .As noted above, part of the outputs of stages [5 and 115' are impressed upon automatic volume control devices'lB and 1:6 whichcontrol the gain otfam'plifiers l2 and l:2.'. .Anysati-sfactory volume control device may be utilized so no details of 'these devices are shown.

The main part 0f the :outputs of stages 15 'and +5 are impressed on transformers I"! and l'i'. The-output winding of transformer 17 is connected to the grids of tubes 28 and 2| in push-pull relation, that is, the voltages impressed on the grids from transformer H are equal numerically but l'degrees out-ofphase.

With the connection #9 from the common terminal of resistance R and capacitance C to con- .ductor 1-8 which connects the mid-point of the output winding of transformer I! to the common terminal of resistance R- and R1, the voltage of channel B .is combined with that in channel A at the grids of tubes '20 and 2|. It is, therefore, obvious-that the meter 2-5 indicates the numerical or-amplitude difference between thesumof the :voltages in the two channels and-the difference Since the resistance-capacitance net-works associated with thecutput windings-of transformers l1 and ii shift the phase of the. voltage :in channel ;A +45 degrees (at the mid-band frequency) and shift thephaseof the voltage inchannel B-45 degrees (at the mid-band frequency) the meter-'25 reads .zero' when these voltages are .90 degrees out-ofphase which indicates that at the input to transformer-5412mm I? the voltages in the' two channels arerinephase.

7 As indicated above, the waves-impressed on the hydrophones l0 and it are only in-phase when the -source of waves is :on the perpendicular bisector of the'line joining the hydrophones. For .any other location of the source of the waves there will be a difference in phase of the waves impressed .on the .hydrophones and this difference in phased-s a measure of the angle between the perpendicular *bisector 0f the line. joining the hydrophones and the -line joining themid-point of suchl-ine with the source of the waves. l

The function of delay circuit M is. tobring-the voltages in the two channels into phase. The amount of delay or the readings of the delay circuit whenmeter 2.5 readsazero is, therefore,

a measure of the angle at which the waves strike the hydrophones. If the phase detection were done without the use of the 90 degree phase shift the balance point of the detector would be a reading of maximum meter deflection instead of null. The rate of change of meter reading near the balance point for a small difference in phase between the signal voltages is much less for a maximum type of indication than for the null. Accurate determination of the balance point is therefore more diflicult. However, as pointed out in connection with Figs. 4a and 4b when a 90 degree phase shift is employed, the rate of change in approaching neutralization is large and the meter readily indicates a slight departure from;

CR and C'R' cause a +45 degree phase shift in channel A and a 45 degree phase shift in channel B respectively (at mid-band frequency). The voltage of channel A is applied to the grid of tube 35 in a manner well understood in the art. The voltage from tube 35 is impressed on the grids of tubes 31 and 38 through network 36. Tubes 31 and 38 are in push-pull relationship as regards the output of tube 35, that is, the voltages applied to the grids of tubes 31 and 38 are equal numerically but 180 degrees out-ofphase. A resistance 39 connecting the cathodes of tubes 31 and 38 has associated with it a movable contact 40 which is connected to ground 4| through conductors 4'2, 43 and 44 whereby a high degree of balance between tubes 31 and 38 may be attained.

The voltage of channel B is applied in parallel to the grids of tubes 41 and 48, that is, the volttages applied to these grids are equal numerically and in-phase.

The anodes of tubes 38 and. 41 are connected together by conductor 49 and the anodes of tubes 31 and 48 are connected together by conductor 50.

applied to the grid of tube 2i. The voltages applied to the grids of tubes 20' and 2| are obviously the sum and difierence of the voltages in channels A and B, the difference between which is indicated by meter 25.

The operation of the arrangement of Fig. 2 is the same as that of the arrangement of Fig. 1 and the description of the operation need not be repeated.

' Fig. 3 illustrates a further modification of or addition to the arrangements of Figs. 1 and 2 to assist in the adjustment of the delay circuit to determine the direction of the wave source. As indicated, two 3.-electrode vacuum tubes GI and 62 are associated with or may replace meter 25 and are so connected that the grid of tube 6| may have impressed upon it the sum of the voltages in channels A and B and the grid of tube 62 may have impressed upon it the difierence of the voltages in channels A and B. Capacitances 63 and 64 provide a path between the grids and mixer circuit is The combined output voltage of tubes 38. and 41 is applied to the grid of tube 20 and the combined output voltage of tubes 31 and 48 is cathodes while'resistances B5 and 66 provide leak paths for the grids. Resistance 51 with its adjustable contact 68 provides a control of the balance between tubes BI and 62. Source 69 provides a sufficient bias on the tube grids to normally maintain the tubes 6| and 62 nonconducting. Source 69 also provides anode potentials for the tubes. I V

In the anode circuit of tube 6! is the winding of a relay 10 having an'armature H and contact arms 12 and 13, and in the anode circuit of tube 52 is the winding of a relay 14 having an armature i5 and contact arms 16 and 11.

Three lamps 18, I9 and are associated with the contacts of the relays and sources of electrical energy 8|, 8| as shown, to operate in-a manner to appear hereinafter.

Before proceeding further with the-arrangement of Fig. 3; reference should be made to Figs. 4b and 40. As explained in connection with-Fig. 4b if the vectors are not degrees out-of-phase there is a marked diiference,AV', between the vector sum VA+B and the vector difference V'A'B. Also if the phase diiference is less than 90 degrees, as shown in Fig. 4b, the vector sum is greater numerically than the vector difference. I

If, however, the phase difierence is greater than 90 degrees, as shown in Fig. 40, it is seen by inspection that the vector sum V"A+e is smaller numerically than the vector difierence V 'A-B by an amount AV". f

Referring again to Fig. 3 and assuming that the sum'of the voltages in the two channels is applied to tube 6| and that the difierence of the voltages in the two channels is appliedto tube 62, then when the voltages are less than 90 degrees out-of-phase, the sum is. numerically the larger and the voltage applied to the grid of tube 6! is large enough to overcome the bias and the tube becomes conducting. Current, therefore, flows from source 59 through the winding of relay 10 thereby energizing the relay. Armature H is moved out of contact with arm 12 thereby extinguishing white light 19 and into contact with'arm 13 closing an obvious circuit'from source 8| to light green lamp 18. Q

When the voltages in the two channels are more than 90 degrees out-of-phase, the bias of tube 62 is overcome and it becomes conducting. Relay I4 is thereby energized and armature I5 is moved out of contact with arm 16 and into contact with arm 11. If at this time armature 1| is in contact with arm 12, the white lamp 19 is extinguished. When contact is made between armature 15 and arm 11 an obvious circuit is completed and red lamp 80 is lighted.

Therefore, when green lamp 18 is lighted, it indicates that the voltages in the two channels are less than 90 degrees out-of-phase and when the red lamp 80 is lighted it indicates that the voltages in the two chanels are more than 90 degrees out-of-phase.

When neither tube 6| nor tube 62 is conducting, armatures II and 15 are in the condition shown, that is, in contact with arms 12 and 16 respectively, and the white lam is lighted over an obvious circuit from source 8| indicating that the voltages in the two channels are 90 degree out-ofphase which in turn indicates that the delay circuit I 4 of Fig. 1 has been so adjusted as to indicate the direction of the source of the waves impinging on hydrophones l0 and ID.

This invention is particularly adapted for use in determining the bearing of an underwater sound source with respect to a given reference I mission in one of said channels' 7 point, where; the. sound; source. may he; a;- ship's propeller for example.

The inven-tiommaybe' carried out. in other specific ways/than. those herein set forth. without depanting. from. the spirit and essential characteristics; oi the: invention. and theI present embodi ments: are,v therefore, to be. considered in all. respects as illustrativ and not restrictive-and all changes coming within the meaning.- and the equivalency'range- Oithe: appended claim's zare in-' tended tnshe embracedltherein;

What. is: claimed is:

1. A system for. indicating, the direction oi an object from: which; Wave; energy emanates, comprising spacedreceiversadapted tcr translate said wave energy into: electrical energy, arr/electrical channel for each of said 'receivers; respectively; I means forproduci'ngaphase shift ofsubmantially QQ -deg'rees between the signal voltages in said re spective'channels; meansfor combining sa id'sig nal voltages: to obtain sum and difierencevectors,

each of said receivers respectively means for bringing. the-signal. voltages in said channels. into phase,.means for shifting, the phases-oi thevoltages in. the channels. toaQQ degrees out-of-phase relation, means comprising a. pair of electron tubes,-. each. including a, cathode connected through a resistor to; ground for. combining the outeof-phase voltages toobtainsum and difierence voltages, and. means connectedacrossthe cathode terminals of said resistors for comparing the amplitudes of said sum'and. difference voltages. 1

- v 37.- A; system: 101: determiningthe direction. of a source of wave energy, comprising. two spaced receiversadapted to translate; said wave energy into electrical energy. a; transmission channelior each of. said receivers respectively a, manually adjustable delay network in. onepoi said. channels,

means for relatively shifting the phases of the voltages in, said two: channels to a substantially 90 degrees: Outmf-phasecondition, means com: prising-a pair of triodes each having its cathode connected, through. a. resistor to: ground foncombining the out-of-phase-voltages to obtain sum and difierence voltages, and means connected across thecathodeterminals of; said. resistors for visually comparingvthe a-mplitudes'oi said sum and difference voltages.

4=. A system. for determ-ining thev directionlof a source oi wave energy, comprising two spaced re- 'ceivers adapted. toptranslate said wave energy into electri-cali'energy, a transmission channel for each of said receivers respectively, meanslinone of, said channels for. producing a.. +45; degrees phase-shift of thevoltages in said channel, means in the OthBI'fQf said channelsfor producing, a, 45

'degrees;phase shift-of. the. voltages in said other channel, and means for detecting the; relative magnitudesof the sum and difierence vectors of the; voltages. in said; channels-- afterthe phase shift; of such voltages, said last means including a-pai-I: of serially connected. resistors whoseadjacent. terminals areat ground. potential, and means connected across the opposite terminals'of said;--resistors for indicatingjthe relative: magnitudesoi such vectors.

'5; A; system in accordance with claim. 32in which said comparing means. comprises three lights. of different colors, means for energizing one of said lights when said voltagesum exceeds in amplitude said. voltage difference; means forenergizingi another of: said, lights; when; said? voltagediiT-erence exceeds inamplitude said voltage sum, and means for. energizing. the-third of. said lights when the. amplitude: of said: voltage sum equals the amplitude of said voltage difieren-ce,

-- i JAMES B. HAYS, JR. 

